image_width: 320
image_height: 240
camera_name: right
camera_matrix:
  rows: 3
  cols: 3
  data: [ 227.8688 ,    0.     ,  157.95209,
            0.     ,  303.09539,  118.1566 ,
            0.     ,    0.     ,    1.     ]
camera_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [-0.399746, 0.164662, -0.001467, 0.001856, 0.000000]
rectification_matrix:
  rows: 3
  cols: 3
  data: [ 0.97349106, -0.02827958, -0.2269701 ,
          0.03031821,  0.99952516,  0.00550008,
          0.22670678, -0.01223561,  0.9738862 ]
projection_matrix:
  rows: 3
  cols: 4
  data: [ 305.6735 ,    0.     ,  289.60029,  -14.70807,
            0.     ,  305.6735 ,  121.06541,    0.     ,
            0.     ,    0.     ,    1.     ,    0.     ]